Program Listing for File TemporalAction.h

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#pragma once

#include "plansys2_msgs/msg/node.hpp"
#include "plansys2_msgs/msg/tree.hpp"

#include "plansys2_pddl_parser/Action.h"
#include "plansys2_pddl_parser/And.h"
#include "plansys2_pddl_parser/Expression.h"

namespace parser { namespace pddl {

class Instance;

class TemporalAction : public Action {

public:

    Expression * durationExpr;
    // pre_s and eff_s inherited from Action
    And *pre_o, *pre_e, *eff_e;

    TemporalAction( const std::string & s )
        : Action( s ), durationExpr( 0 ), pre_o( 0 ), pre_e( 0 ), eff_e( 0 ) {}

    ~TemporalAction() {
        if ( durationExpr ) delete durationExpr;
        if ( pre_o ) delete pre_o;
        if ( pre_e ) delete pre_e;
        if ( eff_e ) delete eff_e;
    }

    void print( std::ostream & s ) const {
        s << name << params << "\n";
        s << "Duration: " << durationExpr->info() << "\n";
        s << "Pre_s: " << pre;
        s << "Eff_s: " << eff;
        s << "Pre_o: " << pre_o;
        s << "Pre_e: " << pre_e;
        s << "Eff_e: " << eff_e;
    }

    double duration() {
        if ( durationExpr ) return durationExpr->evaluate();
        else return 0;
    }

    Expression * parseDuration( Stringreader & f, TokenStruct< std::string > & ts, Domain & d );

    void printCondition( std::ostream & s, const TokenStruct< std::string > & ts, const Domain & d,
                         const std::string & t, And * a ) const;

    void PDDLPrint( std::ostream & s, unsigned indent, const TokenStruct< std::string > & ts, const Domain & d ) const override;

    plansys2_msgs::msg::Node::SharedPtr getTree( plansys2_msgs::msg::Tree & tree, const Domain & d, const std::vector<std::string> & replace = {} ) const override;

    void parseCondition( Stringreader & f, TokenStruct< std::string > & ts, Domain & d, And * a );

    void parse( Stringreader & f, TokenStruct< std::string > & ts, Domain & d );

    GroundVec preconsStart();

    GroundVec preconsOverall();

    GroundVec preconsEnd();

    CondVec endEffects();

    GroundVec addEndEffects();

    GroundVec deleteEndEffects();
};

} } // namespaces